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AP_Proximity: Push 3D data into OA_DB

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Rishabh 2020-06-08 12:31:01 +05:30 committed by Randy Mackay
parent 0779cf436e
commit 9b5922786e
4 changed files with 35 additions and 23 deletions
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37
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -248,40 +248,53 @@ bool AP_Proximity_Backend::ignore_reading(uint16_t angle_deg) const
} }
// returns true if database is ready to be pushed to and all cached data is ready // returns true if database is ready to be pushed to and all cached data is ready
bool AP_Proximity_Backend::database_prepare_for_push(Vector2f &current_pos, float &current_heading) bool AP_Proximity_Backend::database_prepare_for_push(Vector3f &current_pos, Matrix3f &body_to_ned)
{ {
AP_OADatabase *oaDb = AP::oadatabase(); AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) { if (oaDb == nullptr || !oaDb->healthy()) {
return false; return false;
} }
if (!AP::ahrs().get_relative_position_NE_origin(current_pos)) { if (!AP::ahrs().get_relative_position_NED_origin(current_pos)) {
return false; return false;
} }
current_heading = AP::ahrs().yaw_sensor * 0.01f; body_to_ned = AP::ahrs().get_rotation_body_to_ned();
return true; return true;
} }
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
void AP_Proximity_Backend::database_push(float angle, float distance) void AP_Proximity_Backend::database_push(float angle, float distance)
{ {
Vector2f current_pos; Vector3f current_pos;
float current_heading; Matrix3f body_to_ned;
if (database_prepare_for_push(current_pos, current_heading)) {
database_push(angle, distance, AP_HAL::millis(), current_pos, current_heading); if (database_prepare_for_push(current_pos, body_to_ned)) {
database_push(angle, distance, AP_HAL::millis(), current_pos, body_to_ned);
} }
} }
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
void AP_Proximity_Backend::database_push(float angle, float distance, uint32_t timestamp_ms, const Vector2f &current_pos, float current_heading) void AP_Proximity_Backend::database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned)
{ {
AP_OADatabase *oaDb = AP::oadatabase(); AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) { if (oaDb == nullptr || !oaDb->healthy()) {
return; return;
} }
Vector2f temp_pos = current_pos; //Assume object is angle bearing and distance meters away from the vehicle
temp_pos.offset_bearing(wrap_180(current_heading + angle), distance); Vector2f object_2D = {0.0f,0.0f};
object_2D.offset_bearing(wrap_180(angle), distance);
//rotate that vector to a 3D vector in NED frame
const Vector3f object_3D = {object_2D.x,object_2D.y,0.0f};
const Vector3f rotated_object_3D = body_to_ned * object_3D;
//Calculate the position vector from origin
Vector3f temp_pos = current_pos + rotated_object_3D;
//Convert the vector to a NEU frame from NED
temp_pos.z = temp_pos.z * -1.0f;
oaDb->queue_push(temp_pos, timestamp_ms, distance); oaDb->queue_push(temp_pos, timestamp_ms, distance);
} }

5
libraries/AP_Proximity/AP_Proximity_Backend.h
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@ -84,10 +84,9 @@ protected:
bool ignore_reading(uint16_t angle_deg) const; bool ignore_reading(uint16_t angle_deg) const;
// database helpers. all angles are in degrees // database helpers. all angles are in degrees
bool database_prepare_for_push(Vector2f &current_pos, float &current_heading); bool database_prepare_for_push(Vector3f &current_pos, Matrix3f &body_to_ned);
void database_push(float angle, float distance); void database_push(float angle, float distance);
void database_push(float angle, float distance, uint32_t timestamp_ms, const Vector2f &current_pos, float current_heading); void database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f &current_pos, const Matrix3f &body_to_ned);
AP_Proximity &frontend; AP_Proximity &frontend;
AP_Proximity::Proximity_State &state; // reference to this instances state AP_Proximity::Proximity_State &state; // reference to this instances state

8
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -303,9 +303,9 @@ void AP_Proximity_LightWareSF40C::process_message()
} }
// prepare to push to object database // prepare to push to object database
Vector2f current_pos; Vector3f current_pos;
float current_heading; Matrix3f body_to_ned;
const bool database_ready = database_prepare_for_push(current_pos, current_heading); const bool database_ready = database_prepare_for_push(current_pos, body_to_ned);
// process each point // process each point
const float angle_inc_deg = (1.0f / point_total) * 360.0f; const float angle_inc_deg = (1.0f / point_total) * 360.0f;
@ -361,7 +361,7 @@ void AP_Proximity_LightWareSF40C::process_message()
// send combined distance to object database // send combined distance to object database
if ((i+1 >= point_count) || (combined_count >= PROXIMITY_SF40C_COMBINE_READINGS)) { if ((i+1 >= point_count) || (combined_count >= PROXIMITY_SF40C_COMBINE_READINGS)) {
if ((combined_dist_m < INT16_MAX) && database_ready) { if ((combined_dist_m < INT16_MAX) && database_ready) {
database_push(combined_angle_deg, combined_dist_m, _last_distance_received_ms, current_pos, current_heading); database_push(combined_angle_deg, combined_dist_m, _last_distance_received_ms, current_pos,body_to_ned);
} }
combined_count = 0; combined_count = 0;
combined_dist_m = INT16_MAX; combined_dist_m = INT16_MAX;

8
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -103,9 +103,9 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
increment *= -1; increment *= -1;
} }
Vector2f current_pos; Vector3f current_pos;
float current_heading; Matrix3f body_to_ned;
const bool database_ready = database_prepare_for_push(current_pos, current_heading); const bool database_ready = database_prepare_for_push(current_pos, body_to_ned);
// initialise updated array and proximity sector angles (to closest object) and distances // initialise updated array and proximity sector angles (to closest object) and distances
bool sector_updated[PROXIMITY_NUM_SECTORS]; bool sector_updated[PROXIMITY_NUM_SECTORS];
@ -143,7 +143,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
if (database_ready) { if (database_ready) {
database_push(mid_angle, packet_distance_m, _last_update_ms, current_pos, current_heading); database_push(mid_angle, packet_distance_m, _last_update_ms, current_pos, body_to_ned);
} }
} }